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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Telerobotic assembly of space station truss structure

Discussed are methods of assembling the space station's structure utilizing only telerobotic devices, i.e.: (1) an approximately anthropomorphic telerobot with two dextrous arms; (2) the Shuttle Remote Manipulator System (SRNS); (3) various material handling machines. Timelines and task recommendations for autonomous operations are also included. Also described are some experimental results comparing two manipulator control devices.

Fischer, Grahme↗
NASA NTRS1991

Active vibration damping of the Space Shuttle remote manipulator system

The feasibility of providing active damping augmentation of the Space Shuttle Remote Manipulator System (RMS) following normal payload handling operations is investigated. The approach used in the analysis is described, and the results for both linear and nonlinear performance analysis of candidate laws are presented, demonstrating that significant improvement in the RMS dynamic response can be achieved through active control using measured RMS tip acceleration data for feedback.

Scott, Michael A.↗
NASA NTRS1993

Simulation of the Attitude Determination System for Space Station berthing dynamics research

Langley has developed a simulator of the Space Station coupled to the Space Shuttle via the Remote Manipulator System for use in evaluating handling during Station assembly. To date, evaluations of this scenario had included the Station Attitude Control System (ACS), assuming that the Station Attitude Determination System (ADS) provides perfect information on the coupled configuration. Herein, the complete Station digital autopilot (DAP) is considered including both the ADS and ACS systems. The ADS, its modelling and simulation are briefly overviewed and studies concerning the closed-loop operation of the DAP during local-coordinate, orbital attitude hold are presented. Results show that the presence of a type 0 filter in the ADS angular velocity signal processing has an adverse effect on attitude estimation because of the error in steady-state tracking of the angular velocity following reaction control jet firings. This error propagates into the attitude estimate almost linearly with time and star tracker updates are required at frequent, 3-second intervals if a .001 degree accuracy is to be maintained.

Montgomery, Raymond C.↗
NASA NTRS1995

Using an architectural approach to integrate heterogeneous, distributed software components

Many computer programs cannot be easily integrated because their components are distributed and heterogeneous, i.e., they are implemented in diverse programming languages, use different data representation formats, or their runtime environments are incompatible. In many cases, programs are integrated by modifying their components or interposing mechanisms that handle communication and conversion tasks. For example, remote procedure call (RPC) helps integrate heterogeneous, distributed programs. When configuring such programs, however, mechanisms like RPC must be used explicitly by software developers in order to integrate collections of diverse components. Each collection may require a unique integration solution. This paper describes improvements to the concepts of software packaging and some of our experiences in constructing complex software systems from a wide variety of components in different execution environments. Software packaging is a process that automatically determines how to integrate a diverse collection of computer programs based on the types of components involved and the capabilities of available translators and adapters in an environment. Software packaging provides a context that relates such mechanisms to software integration processes and reduces the cost of configuring applications whose components are distributed or implemented in different programming languages. Our software packaging tool subsumes traditional integration tools like UNIX make by providing a rule-based approach to software integration that is independent of execution environments.

Callahan, John R.↗
NASA NTRS2001

Facility Concepts for Mars Returned Sample Handling

Samples returned from Mars must be held in quarantine until their biological safety has been determined. A significant challenge, unique to NASA's needs, is how to contain the samples (to protect the blaspheme) while simultaneously protecting their pristine nature. This paper presents a comparative analysis of several quarantine facility concepts for handling and analyzing these samples. The considerations in this design analysis include: modes of manipulation; capability for destructive as well as non-destructive testing; avoidance of cross-contamination; linear versus recursive processing; and sample storage and retrieval within a closed system. The ability to rigorously contain biologically hazardous materials has been amply demonstrated by facilities that meet the specifications of the Center for Disease Control Biosafety Level 4. The newly defined Planetary Protection Level Alpha must provide comparable containment while assuring that the samples remain pristine; the latter requirement is based on the need to avoid compromising science analyses by instrumentation of the highest possible sensitivity (among other things this will assure that there is no false positive detection of organisms or organic molecules - a situation that would delay or prevent the release of the samples from quarantine). Protection of the samples against contamination by terrestrial organisms and organic molecules makes a considerable impact upon the sample handling facility. The use of glove boxes appears to be impractical because of their tendency to leak and to surges. As a result, a returned sample quarantine facility must consider the use of automation and remote manipulation to carry out the various functions of sample handling and transfer within the system. The problem of maintaining sensitive and bulky instrumentation under the constraints of simultaneous sample containment and contamination protection also places demands on the architectural configuration of the facility that houses it.

Cohen, Marc M.↗
NASA NTRS1974

Wideband infrared heterodyne receiver front-end

A 10.6 micron infrared heterodyne receiver front end was developed for use in a wideband CO2 laser communications link. The infrared receiver employs an 850 MHz response PV HgCdTe photomixer which is mounted in a space quality housing, a low-noise 5 to 1500 MHz IF preamplifier, and a remote control panel. The receiver was designed to handle + or - 750 MHz of Doppler shift while providing an instantaneous information bandwidth of 400 MHz. The measured receiver sensitivity NEP was 1.0 x 10 to the 19th power W/Hz for a photomixer temperature of T sub m = 77 K and an IF beat frequency of 20 MHz and degraded to 1.75 x 10 to the 19th power W/Hz for T sub m = 130 K.

Peyton, B. J.↗
NASA NTRS1978

Smart Sensors for Smart Hands

Proximity, force-torque, touch and slippage sensors developed or applied by the JPL Teleoperator Project for remote manipulator control are described, including sensor data handling by computers for display and control. Examples are quoted showing the significance of these sensors for manual or computer control of manipulators. An interesting example is a proximity sensor system implemented for a four-claw JSC end effector and tested at the Shuttle Manipulator Training Facility of JSC. New sensing concepts aimed at simplifying the implementation of 'Smart Sensors for Smart Hands' in the space environment are discussed.

Bejczy, A. K.↗
NASA NTRS1979

The acquisition, storage, and dissemination of LANDSAT and other LACIE support data

Activities performed at the LACIE physical data library are described. These include the researching, acquisition, indexing, maintenance, distribution, tracking, and control of LACIE operational data and documents. Much of the data available can be incorporated into an Earth resources data base. Elements of the data collection that can support future remote sensing programs include: (1) the LANDSAT full-frame image files; (2) the microfilm file of aerial and space photographic and multispectral maps and charts that encompasses a large portion of the Earth's surface; (3) the map/chart collection that includes various scale maps and charts for a good portion of the U.S. and the LACIE area in foreign countries; (4) computer-compatible tapes of good quality LANDSAT scenes; (5) basic remote sensing data, project data, reference material, and associated publications; (6) visual aids to support presentation on remote sensing projects; and (7) research acquisition and handling procedures for managing data.

Abbotts, L. F.↗
NASA NTRS1986

Fast Remote Kilovolt-Power Controller

High power turned off rapidly in case of overload. Remote power controller (RPC) developed with power-handling capability of 25 A at 1,000 Vdc. RPC has programmable characteristic that trip open to clear fault within 3 microseconds.

Hower, P.↗
NASA NTRS1987

Telerobotic assembly of space station truss structures

Discussed here are methods of assembling the space station's structure utilizing only telerobotic devices, i.e.: (1) an approximately anthropomorphic telerobot with two dextrous arms; (2) the Shuttle Remote Manipulator System (SRMS); and (3) various material handling machines. Timelines and task recommendations for autonomous operations are also included. Also described are some experimental results comparing two manipulator control devices.

Fischer, G.↗
NASA NTRS1991

Active vibration damping of the Space Shuttle Remote Manipulator System

The feasibility of providing active damping augmentation of the Space Shuttle Remote Manipulator System (RMS) following normal payload-handling operations is investigated. The approach used in the analysis is described and the results from both linear and nonlinear performance analyses of candidate laws are presented, demonstrating that significant improvement in the RMS dynamic response can be achieved through active control using measured RMS tip acceleration data for feedback.

Scott, Michael A.↗
NASA NTRSDate not supplied

Surface Transportation of the Common Habitat from Lander to Habitation Zone

The Common Habitat Architecture is a feasibility study surrounding the use of an SLS core stage liquid oxygen tank as the pressure vessel for a long-duration habitat intended for use in multiple gravity environments. The Common Habitat is used within this study as the primary habitation element in both Moon and Mars surface base camps. The Common Habitat Architecture offloads the Common Habitat from its lander and transports it to a Habitation Zone instead of leaving the habitat integrated with the lander. In this study, the Landing Zone is assumed to be approximately 3.5 kilometers from the Habitation Zone. Given the physical size and estimated 90-ton mass of the Common Habitat, a four-week trade study encompassing Moon and Mars lander identification, offloading, surface transport, and emplacement was conducted in February 2021 to assess whether there are any credible options for landing the Common Habitat on the Moon or Mars and deliver it to its intended point of use. Constrained to use only public data, the study applied subject matter expert opinion to each component of the study. The surface transportation component of the trade study assumes the habitat has been successfully offloaded from its lander and is at a point of handover to the surface transportation system. It is assumed that there are no crew present, and all human operations are performed remotely by Mission Control personnel. Three core cargo handling elements from prior NASA studies were used as the basis from which to derive surface transportation options – the Chariot, the All-Terrain Hex-Limbed Extra-Terrestrial Explorer, and the Lightweight Surface Manipulator System. Variations and hybrid combinations of these elements were used to develop transportation options for the Moon and Mars, given different habitat masses. Ultimately, several potentially feasible solutions were identified, and a solution was recommended that is common to both the Moon and Mars, with the potential to use a dissimilar system as a backup during lunar Common Habitat delivery. Next steps for sizing and additional development and analysis of the recommended surface transportation system are included as forward work.

Surface Mobility↗
NASA NTRS1991

System requirements and design features of Space Station Remote Manipulator System mechanisms

The Space Station Remote Manipulator System (SSRMS) is a long robotic arm for handling large objects/payloads on the International Space Station Freedom. The mechanical components of the SSRMS include seven joints, two latching end effectors (LEEs), and two boom assemblies. The joints and LEEs are complex aerospace mechanisms. The system requirements and design features of these mechanisms are presented. All seven joints of the SSRMS have identical functional performance. The two LEES are identical. This feature allows either end of the SSRMS to be used as tip or base. As compared to the end effector of the Shuttle Remote Manipulator System, the LEE has a latch and umbilical mechanism in addition to the snare and rigidize mechanisms. The latches increase the interface preload and allow large payloads (up to 116,000 Kg) to be handled. The umbilical connectors provide power, data, and video signal transfer capability to/from the SSRMS.

Kumar, Rajnish↗
NASA NTRS1992

Quantitative Evaluation Of Teleoperator Performance

Report describes experiments on remote manual control of robotic manipulator. Experiments conducted to evaluate quantitatively relative effectiveness of several control modes: various combinations of position control, rate control, remote compliance, and feedback from force and torque sensors. Tasks evaluated: removing thermal blanket, unbolting electrical panel, and handling bundles of electrical wires and electrical connectors on simulated solar Max satellite by means of remotely controlled robot in teleoperation laboratory.

Das, Hari↗
NASA NTRS1989

Evolutionary space station fluids management strategies

Results are summarized for an 11-month study to define fluid storage and handling strategies and requirements for various specific mission case studies and their associated design impacts on the Space Station. There are a variety of fluid users which require a variety of fluids and use rates. Also, the cryogenic propellants required for NASA's STV, Planetary, and Code Z missions are enormous. The storage methods must accommodate fluids ranging from a high pressure gas or supercritical state fluid to a sub-cooled liquid (and superfluid helium). These requirements begin in the year 1994, reach a maximum of nearly 1800 metric tons in the year 2004, and trail off to the year 2018, as currently planned. It is conceivable that the cryogenic propellant needs for the STV and/or Lunar mission models will be met by LTCSF LH2/LO2 tanksets attached to the SS truss structure. Concepts and corresponding transfer and delivery operations have been presented for STV propellant provisioning from the SS. A growth orbit maneuvering vehicle (OMV) and associated servicing capability will be required to move tanksets from delivery launch vehicles to the SS or co-orbiting platforms. Also, appropriate changes to the software used for OMV operation are necessary to allow for the combined operation of the growth OMV. To support fluid management activities at the Space Station for the experimental payloads and propellant provisioning, there must be truss structure space allocated for fluid carriers and propellant tanksets, and substantial beam strengthening may be required. The Station must have two Mobile Remote Manipulator Systems (MRMS) and the growth OMV propellant handling operations for the STV at the SS. Propellant needs for the Planetary Initiatives and Code Z mission models will most likely be provided by co-orbiting propellant platform(s). Space Station impacts for Code Z mission fluid management activities will be minimal.

Source record↗
NASA NTRS1994

Automated Analysis of Radar Imagery of Venus: Handling Lack of Ground Truth

Lack of verifiable ground truth is a common problem in remote sensing image analysis. For example, consider the synthetic aperture radar (SAR) image data of Venus obtained by the Magellan spacecraft. Planetary scientists are interested in automatically cataloging the locations of all the small volcanoes in this data set; however, the problem is very difficult and cannot be performed with perfect reliability even by human experts. Thus, training and evaluating the performance of an automatic algorithm on this data set must be handled carefully. We discuss the use of weighted free-response receiver-operating characteristics (wFROC) for evaluating detection performance when the ground truth is subjective.

Venus Magellan remote sensing image analysis autom↗
NASA NTRS1987

Development of the imaging spectrometer - Technical challenges and solutions

The imaging spectrometer (IS) is capable of performing direct identification of surface materials through their spectral signatures. This paper describes some of the system design and technology tradeoffs associated with the development of ISs; particular attention is given to optics, spectral dispersion, focal plane, and data handling,. Design examples for both earth and planetary remote-sensing applications are described, including AVIRIS, HIRIS, and VIMS.

Herring, Mark↗